一个简约的行走鱼类机器人双胞胎,基于单一的执行器波形机制
Narges Khadem Hosseini1, Michael Ishida1, Fidji Berio2
1Department of Engineering, University of Cambridge, Trumpington St, CB2 1PZ Cambridge, United Kingdom.
Bioinspiration & biomimetics
|November 14, 2025
概括
研究人员开发了一种简单的机器人,灵感来源于行走的鱼 (Polypterus senegalus),以研究陆地运动. 极简主义的机器人设计可以有效地复制鱼类的运动,并为未来的生物灵感机器人提供信息.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 进化生物学 进化生物学
- 生物力学 生物力学
背景情况:
- 鱼类的陆地运动提供了关于脊椎动物进化的见解.
- 走路的鱼类,如灰色的比希尔 (Polypterus senegalus),表现出独特的波浪运动.
- 多功能机器人系统可以从生物机动机器获得灵感.
研究的目的:
- 为了研究灰色 (Polypterus senegalus) 的陆地运动.
- 开发一个简化的,单驱动器连续机器人,模仿鱼类的运动.
- 为了测试这个假设,最小的驱动可以复制观察到的运动模式.
主要方法:
- 采用"机器人双胞胎"方法,根据鱼的行走姿势创建了四个螺旋结构.
- 机器人性能和动力学与来自真实鱼样的生物数据进行了比较.
- 被动腿结构被整合,以评估它们对稳定性的影响.
主要成果:
- 螺旋体几何学显著影响了运动速度和横向稳定性.
- 模仿生物曲线的设计显示了准确性和性能之间的权衡.
- 最快的配置增加了横向振荡,而最生物精确的设计降低了效率.
- 被动腿部结构增强了稳定性,类似于胸.
结论:
- 最简单的机器人设计对于理解类似鱼类的陆地运动是有价值的.
- 螺旋体几何是机器人运动速度和稳定的关键因素.
- 进一步开发降低自由度的机器人平台是有必要的.
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